mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.3 KiB
C++
98 lines
3.3 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Notify/AP_Notify.h>
|
|
#include <AP_HAL/utility/RingBuffer.h>
|
|
|
|
#define TELEM_PAYLOAD_STATUS_CAPACITY 5 // size of the message buffer queue (max number of messages waiting to be sent)
|
|
|
|
// for fair scheduler
|
|
#define TELEM_TIME_SLOT_MAX 15
|
|
//#define TELEM_DEBUG
|
|
|
|
class AP_RCTelemetry {
|
|
public:
|
|
AP_RCTelemetry(uint8_t time_slots) : _time_slots(time_slots) {}
|
|
virtual ~AP_RCTelemetry() {};
|
|
|
|
/* Do not allow copies */
|
|
AP_RCTelemetry(const AP_RCTelemetry &other) = delete;
|
|
AP_RCTelemetry &operator=(const AP_RCTelemetry&) = delete;
|
|
|
|
// add statustext message to message queue
|
|
void queue_message(MAV_SEVERITY severity, const char *text);
|
|
|
|
// update error mask of sensors and subsystems. The mask uses the
|
|
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
|
|
// indicates that the sensor or subsystem is present but not
|
|
// functioning correctly
|
|
uint32_t sensor_status_flags() const;
|
|
|
|
protected:
|
|
void run_wfq_scheduler();
|
|
// set an entry in the scheduler table
|
|
void set_scheduler_entry(uint8_t slot, uint32_t weight, uint32_t min_period_ms) {
|
|
_scheduler.packet_weight[slot] = weight;
|
|
_scheduler.packet_min_period[slot] = min_period_ms;
|
|
}
|
|
// add an entry to the scheduler table
|
|
void add_scheduler_entry(uint32_t weight, uint32_t min_period_ms) {
|
|
set_scheduler_entry(_time_slots++, weight, min_period_ms);
|
|
}
|
|
// setup ready for passthrough operation
|
|
virtual bool init(void);
|
|
|
|
uint8_t _time_slots;
|
|
|
|
struct
|
|
{
|
|
uint32_t last_poll_timer;
|
|
uint32_t avg_packet_counter;
|
|
uint32_t packet_timer[TELEM_TIME_SLOT_MAX];
|
|
uint32_t packet_weight[TELEM_TIME_SLOT_MAX];
|
|
uint32_t packet_min_period[TELEM_TIME_SLOT_MAX];
|
|
uint8_t avg_packet_rate;
|
|
#ifdef TELEM_DEBUG
|
|
uint8_t packet_rate[TELEM_TIME_SLOT_MAX];
|
|
#endif
|
|
} _scheduler;
|
|
|
|
struct {
|
|
HAL_Semaphore sem;
|
|
ObjectBuffer<mavlink_statustext_t> queue{TELEM_PAYLOAD_STATUS_CAPACITY};
|
|
mavlink_statustext_t next;
|
|
bool available;
|
|
} _statustext;
|
|
|
|
private:
|
|
uint32_t check_sensor_status_timer;
|
|
uint32_t check_ekf_status_timer;
|
|
|
|
// passthrough WFQ scheduler
|
|
virtual void setup_wfq_scheduler() = 0;
|
|
virtual bool get_next_msg_chunk(void) = 0;
|
|
virtual bool is_packet_ready(uint8_t idx, bool queue_empty) = 0;
|
|
virtual void process_packet(uint8_t idx) = 0;
|
|
virtual void adjust_packet_weight(bool queue_empty) = 0;
|
|
|
|
void update_avg_packet_rate();
|
|
|
|
// methods to convert flight controller data to FrSky SPort Passthrough (OpenTX) format
|
|
void check_sensor_status_flags(void);
|
|
void check_ekf_status(void);
|
|
};
|